Just because your poor kids are 'used to it', doesn't mean they are not being severely damaged by this abuse !
Get it out of your head that it's somehow 'ok' for any of you to live like this !
It doesn't matter one iota whether your family would 'support' you leaving him and getting divorced either, because they are not the ones living in fear daily ! You and your kids are !
You've got to be the one to get your kids away from being abused daily, because no-one else will ! You're the parent, and it's your responsibility ! What would you do if it was a teacher screaming and swearing at them daily ? Would that also be 'ok' to you ?
And remember, it's not you who has made your home life abusive and toxic, it's HIM ! He is choosing to abuse you all, and doesn't give a toss who knows about it either, but he's fine to keep his temper in check at work, or with his pals, isn't he ? I'll bet he wouldn't ever 'lose it' like that where he would be held to account or beaten up for his abuse, would he ? No, because he CAN behave 'normally', he just LIKES to have you all living in bloody 'fear' of him ! Prick !
Phone Womens Aid and get advice about how to leave this shit !